A Bio-inspired Sensing Approach to in-Gust Flight of Flapping Wing MAVs

A Bio-inspired Sensing Approach to in-Gust Flight of Flapping Wing MAVs

Wang, Chenyao (TU Delft Aerospace Engineering; TU Delft Control & Simulation)

Hamaza, S. (mentor)
de Croon, G.C.H.E. (graduation committee)
Wang, S. (graduation committee)

Delft University of Technology

Aerospace Engineering

2022-09-27

Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. However, their in-gust flight performance and stability is still inferior to their biological counterparts. To this end, a simplified in-gust dynamic model, which could capture the main gust effects on FWMAVs, has been identified with real in-gust flights' data of a FWMAV, the Flapper Drone. Based on this model, an adaptive position and velocity controller was proposed with gain scheduling and implemented for in-gust flights under gust speeds up to 2.4 m/s. With this airflow-sensing based adaptive controller, the in-gust hovering stability of the Flapper Drone has been improved when the gust's intensity and frequency changes, comparing with the original fixed-gain cascaded PID controller case.

DelFly
Bio-inspired Aerial Robotics
Flapping Wing MAV
Modeling
Adaptive Control
In-gust Flights
Onboard Airflow Sensing

http://resolver.tudelft.nl/uuid:6215dd57-8d16-466b-a286-341538675d2d

2023-12-31

Student theses

master thesis

© 2022 Chenyao Wang